CN212623086U - Laser receiving system, laser radar system and robot equipment - Google Patents
Laser receiving system, laser radar system and robot equipment Download PDFInfo
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- CN212623086U CN212623086U CN202020949420.5U CN202020949420U CN212623086U CN 212623086 U CN212623086 U CN 212623086U CN 202020949420 U CN202020949420 U CN 202020949420U CN 212623086 U CN212623086 U CN 212623086U
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Abstract
The utility model discloses a laser receiving system, laser radar system and robot equipment, wherein, laser receiving system includes: the device comprises a photoelectric receiving array, an I/V conversion circuit, a signal processing circuit, a controller and a bias circuit; the photoelectric receiving array comprises a plurality of photoelectric receiving units for converting laser signals into electric signals; the I/V conversion circuit converts the electric signal from a current signal to a voltage signal; the signal processing circuit amplifies and shapes the voltage signal; the bias circuit comprises a plurality of paths of bias power supply units, each path of bias power supply unit can be connected with at least one photoelectric receiving unit and provides power supply bias for the photoelectric receiving unit; the controller also comprises bias voltage modulation ends which are correspondingly connected with the multiple bias voltage power supply units one by one so as to output modulation signals to adjust the voltage values output by the corresponding bias voltage power supply units. The scheme can solve the problem that the existing single bias circuit can only carry out bias compensation for the corresponding APDs and cannot be compatible with different numbers of APDs for bias compensation.
Description
Technical Field
The utility model relates to a photoelectric detection technical field especially relates to a laser receiving system, laser radar system and robot equipment.
Background
With the development of laser technology, the laser detection technology is widely applied in the fields of laser ranging, laser radar, laser communication and the like. The laser transmitter emits laser, and the laser receiver receives the laser, so that the laser detection process is completed.
The prior laser receiving system is applied to the market more and is a single-channel laser receiving system, namely only comprises one laser receiving channel, the laser receiving system can only receive a single laser signal reflected by a target, the detection visual field of the laser receiving system is greatly limited, the target laser cannot be easily detected in the measuring process, the single laser receiving channel is not beneficial to system installation and adjustment, the angle range of the laser receiving channel is limited, the installation and adjustment process is complex, and the laser detection efficiency is low.
With the further development of the technology, a multichannel laser receiving system is also available in the market at present, but the multichannel laser receiving system needs to provide power supply bias voltage for a plurality of laser receiving channels, so that a bias circuit cannot meet the power supply requirements of the plurality of laser receiving channels, the gain received by the laser receiving channels cannot be stabilized, and the laser signal measurement accuracy of the laser receiving system is low.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a laser receiving system to solve and to solve current single bias voltage circuit and can only carry out the bias voltage for corresponding the photoelectric receiving unit and supply, the photoelectric receiving unit of unable compatible different quantity carries out the problem of bias voltage compensation, solves the lower problem of the laser signal measurement accuracy of current multichannel laser receiving system simultaneously.
In a first aspect, an embodiment of the present invention provides a laser receiving system, which can receive multi-beam laser signals, including:
the device comprises a photoelectric receiving array, an I/V conversion circuit, a signal processing circuit, a controller and a bias circuit;
the photoelectric receiving array comprises a plurality of photoelectric receiving units which are arranged in an array and used for receiving the multi-beam laser signals in a one-to-one correspondence mode, and the photoelectric receiving units are used for converting the laser signals into electric signals; the I/V conversion circuit is connected with the photoelectric receiving unit and is used for converting the electric signal from a current signal to a voltage signal; the signal processing circuit is connected with the I/V conversion circuit and is used for amplifying and shaping the voltage signal; the echo receiving end of the controller is connected with the signal processing circuit and is used for receiving the amplified and shaped voltage signal;
the bias circuit comprises a plurality of paths of bias power supply units, each path of bias power supply unit can be connected with the input end of at least one photoelectric receiving unit and is used for providing power supply bias for the connected photoelectric receiving unit;
the controller also comprises bias voltage modulation ends which are connected with the multiple bias voltage power supply units in a one-to-one correspondence mode and used for outputting modulation signals to adjust voltage values output by the corresponding bias voltage power supply units.
In a second aspect, the embodiment of the present invention provides a laser radar system, including the utility model discloses the laser receiving system that arbitrary embodiment provided still includes:
the laser emitting system comprises laser emitting units which are arranged in one-to-one correspondence with photoelectric receiving units of the laser receiving system. .
The third aspect, the embodiment of the utility model provides a still provides a robot, include the utility model discloses the laser radar system that arbitrary embodiment provided.
The utility model discloses in, laser receiving system includes the photoelectric reception array, can receive multibeam laser signal, and is concrete, and the photoelectric reception array includes a plurality of photoelectric reception units that the array was arranged, with multibeam laser signal one-to-one sets up, and every photoelectric reception array can receive the laser signal who corresponds. The laser receiving system also comprises an I/V conversion circuit, a signal processing circuit and a controller, wherein the output end of the photoelectric receiving unit and the I/V conversion circuit convert the electric signal output by the photoelectric receiving unit into a voltage signal from a current signal, the signal processing circuit amplifies and shapes the voltage signal, and the echo receiving end of the controller listens to the amplified and shaped voltage signal, so that the voltage signal is convenient to analyze. In addition, the laser receiving system includes a bias circuit including a plurality of bias power supply units each of which can supply a power supply bias to the input terminals of the plurality of photoreceiving units, and the controller may control the plurality of bias power supply units such that the bias power supply units output voltage values in accordance with the requirements of users or devices. The arrangement of the multi-path bias power supply unit enables the photoelectric receiving array to integrate more photoelectric receiving units, enables each photoelectric receiving unit to receive stable laser signals, can be compatible with the problem that different numbers of photoelectric receiving units carry out bias compensation, and simultaneously improves the measurement accuracy of the laser receiving system. The photoelectric receiving units arranged in the array can realize three-dimensional detection, so that different azimuth information of the target can be acquired, and the target detection precision is improved.
Drawings
Fig. 1 is a schematic structural diagram of a laser receiving system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a photo-receiving array according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another laser receiving system provided in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another laser receiving system provided in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a comparative example of a laser receiving system provided by an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a photo-receiving array according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a robot apparatus according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The embodiment of the utility model provides a laser receiving system can receive multibeam laser signal, include: the device comprises a photoelectric receiving array, an I/V conversion circuit, a signal processing circuit, a controller and a bias circuit;
the photoelectric receiving array comprises a plurality of photoelectric receiving units which are arranged in an array and used for receiving multi-beam laser signals in a one-to-one correspondence mode, and the photoelectric receiving units are used for converting the laser signals into electric signals; the I/V conversion circuit is connected with the photoelectric receiving unit and is used for converting the electric signal from a current signal to a voltage signal; the signal processing circuit is connected with the I/V conversion circuit and is used for amplifying and shaping the voltage signal; the echo receiving end of the controller is connected with the signal processing circuit and used for receiving the amplified and shaped voltage signal;
the bias circuit comprises a plurality of paths of bias power supply units, each path of bias power supply unit can be connected with the input end of at least one photoelectric receiving unit and is used for providing power supply bias for the connected photoelectric receiving unit;
the controller also comprises bias voltage modulation ends which are connected with the multiple bias voltage power supply units in a one-to-one correspondence mode and used for outputting modulation signals to adjust the voltage values output by the corresponding bias voltage power supply units.
The embodiment of the utility model provides an in, laser receiving system includes the photoelectric reception array, can receive multibeam laser signal, and is concrete, and the photoelectric reception array includes a plurality of photoelectric reception units that the array was arranged, with multibeam laser signal one-to-one sets up, and every photoelectric reception array can receive the laser signal who corresponds. The laser receiving system also comprises an I/V conversion circuit, a signal processing circuit and a controller, wherein the output end of the photoelectric receiving unit and the I/V conversion circuit convert the electric signal output by the photoelectric receiving unit into a voltage signal from a current signal, the signal processing circuit amplifies and shapes the voltage signal, and the echo receiving end of the controller listens to the amplified and shaped voltage signal, so that the voltage signal is convenient to analyze. In addition, the laser receiving system includes a bias circuit including a plurality of bias power supply units each of which can supply a power supply bias to the input terminals of the plurality of photoreceiving units, and the controller may control the plurality of bias power supply units such that the bias power supply units output voltage values in accordance with the requirements of users or devices. The arrangement of the multi-path bias power supply unit enables the photoelectric receiving array to integrate more photoelectric receiving units, and enables each photoelectric receiving unit to receive stable laser signals. The photoelectric receiving units arranged in the array can realize three-dimensional detection, so that different azimuth information of the target can be acquired, and the target detection precision is improved.
Above is the core thought of the utility model, will combine the attached drawing in the embodiment of the utility model below, to the technical scheme in the embodiment of the utility model clearly, describe completely. Based on the embodiments in the present invention, under the premise that creative work is not done by ordinary skilled in the art, all other embodiments obtained all belong to the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a laser receiving system according to an embodiment of the present invention, as shown in fig. 1, the laser receiving system includes a photo-receiving array 11, an I/V conversion circuit 12, a signal processing circuit 13, a controller 14, and a bias circuit 15. The photo-electric receiving array 11 includes a plurality of photo-electric receiving units 111 arranged in an array, and is capable of receiving a multi-beam laser signal, specifically, the photo-electric receiving units 111 are capable of receiving a laser signal at a predetermined angle, and the photo-electric receiving units 111 are configured to receive a corresponding beam of laser signal. It should be noted that the multi-beam laser signals can be respectively emitted by a plurality of laser emitting units, and the laser emitting units correspond to the multi-beam laser signals one to one. The laser emitting unit is used for emitting a laser signal, and the photoelectric receiving unit 111 is used for converting the laser signal into an electrical signal. The plurality of photoelectric receiving units 111 arranged in an array can respectively acquire laser signals emitted by the laser emitting units arranged in different directions and different angles, acquire specific form and direction information of a target object, and realize a three-dimensional detection technology.
The I/V conversion circuit 12 is connected to the photoelectric receiving array 11, and is capable of converting an electric signal output from the photoelectric receiving unit 111 in the photoelectric receiving array 11 from a current signal to a voltage signal. The signal processing circuit 13 is connected to the I/V conversion circuit 12, and is configured to amplify and shape the voltage signal output by the I/V conversion circuit 12. The controller 14 includes an echo receiving terminal, which is connected to the signal processing circuit 13 and is configured to receive the amplified and shaped voltage signal, so that the controller 14 can analyze and process the voltage signal to identify the laser emitting unit corresponding to the voltage signal (laser signal), and thus identify the specific direction and the specific distance represented by the laser emitting unit.
The bias circuit 15 may include multiple bias power supply units 151, and each bias power supply unit 151 may be connected to an input terminal of at least one of the photo-receiving units 111 for providing a power supply bias voltage to the at least one of the photo-receiving units 111. The controller 14 can output a bias modulation signal to the corresponding bias power supply unit 151 of the bias circuit 15 through the bias modulation terminal, and adjust the bias circuit 15 to output a supply bias voltage of the compensation photo-reception unit 111 through the PWM duty ratio of the bias modulation signal, thereby controlling the stable gain of the photo-reception unit 111. In the embodiment, the multiple bias power supply units 151 can effectively prevent the bias circuit 15 from being unable to drive a large number of the photoreceiving units 111, and in the embodiment, the multiple bias power supply units 151 are provided, and each bias power supply unit 151 can provide a power supply bias for at least one of the photoreceiving units 111, so as to prevent the photoreceiving unit 111 from being powered insufficiently and receiving laser signals weaker.
For example, as shown in fig. 1, the bias circuit 15 may include 4 bias power supply units 151, and an input terminal of each bias power supply unit 151 in the bias circuit 15 is connected to the bias modulation terminal of the controller 16, and each bias power supply unit 151 may be driven to output an adjustable voltage value under the control of the controller 16. As described in the above example, the bias circuit 15 includes four independent bias power supply units 151, the input of each bias power supply unit 151 is driven by the bias modulation terminal of the controller 16, and meanwhile, each bias power supply unit 151 feeds back the current power supply bias to the controller 16 in real time, and the voltage acquisition terminal of the controller 16 can acquire the power supply bias in real time, so as to implement the function of closed-loop feedback, and control the stability of the output high voltage of each bias power supply unit 151 by using this characteristic.
Optionally, the bias circuit 15 includes m bias power supply units 151; the photoreceiving array 11 includes m × n photoreceiving units 111; m is an integer greater than 1; n is an integer greater than or equal to 1; each bias power supply unit 151 is connected to the input terminals of the corresponding n photo-reception units 111. In this embodiment, each bias power supply unit 151 corresponds to n photoelectric receiving units 111, and each bias power supply unit 151 respectively biases the power supplied to the same number of photoelectric receiving units 111, which is beneficial to implementing the voltage supply balance and improving the stability of the photoelectric receiving units 111 receiving signals.
Optionally, the bias power supply unit 151 may output a power supply bias voltage ranging from 30V to 250V to supply power to the photo-receiving unit 111 with an operating current greater than or equal to 1 mA. In this embodiment, the bias circuit 15 may include multiple bias power supply units 151, each bias power supply unit 151 may be independently controlled, and the output power bias range may be programmable and adjustable. In this example, the bias power supply unit 151 can output an adjustable high voltage range of 30V to 250V, and the working current is greater than or equal to 1mA, which can ensure that the bias power supply unit 151 can output enough current to the plurality of photo-receiving units 111 connected thereto, because the working current of the photo-receiving units is usually less than 1mA, the bias power supply unit 151 in this embodiment can simultaneously operate the plurality of photo-receiving units 111, even the photo-receiving units 111 with large current, thereby ensuring stable gain and high sensitivity of the photo-receiving units 111.
Fig. 2 is a schematic structural diagram of a photo-receiving array according to an embodiment of the present invention, and optionally, an input end of each photo-receiving unit 111 may be provided with a selection switch 112; the photo-reception unit 111 replaces the bias power supply unit 151 connected correspondingly through the selection switch 112. As shown in fig. 2, the two photo-receiving units 111 are driven by one bias power supply unit 151 in fig. 2. A switching device 112 may be disposed between the photo-reception unit 111 and the bias power supply unit 151 so that the number or number of photo-reception units 111 to which the bias power supply unit 151 is connected may be adjusted. If one of the bias power supply units 151 is damaged, the photoreceiving unit 111 driven by the bias power supply unit 151 is connected to the other bias power supply units 151, thereby enhancing the reliability of the entire bias circuit 15. Furthermore, the multi-path bias power supply unit 151 enables the integratable photoelectric receiving unit 111 to be increased by several times, effectively increases the detection visual field of the photoelectric receiving array 11, and increases the detection precision.
Fig. 3 is a schematic structural diagram of another laser receiving system provided in an embodiment of the present invention, and optionally, referring to fig. 1 and fig. 3, the controller 14 may further include a voltage collecting terminal connected to the multiple bias power supply units 151 in a one-to-one correspondence manner, for collecting voltage values of the corresponding bias power supply units 151 in real time; as shown in fig. 3, the laser light receiving system further includes: a temperature monitoring circuit 16; the temperature monitoring circuit 16 is attached to the photoelectric receiving array 11; the temperature monitoring circuit 16 is used for acquiring the temperature of the photoelectric receiving array 11; the controller 14 further comprises a temperature acquisition end connected with the temperature monitoring circuit 16, and is used for acquiring the temperature of the photoelectric receiving array 11; the controller 14 is also configured to adjust the modulation signal of each bias power supply unit 151 according to the collected temperature.
The temperature monitoring circuit 16 collects the system temperature on the photoelectric receiving array 11, the temperature monitoring circuit 16 is close to the photoelectric receiving array 11, the temperature information of the photoelectric receiving array 11 is obtained in real time, the temperature information is converted into a digital voltage signal and is sent to the controller 16, the controller 16 is respectively connected with the bias circuit 15 and the temperature monitoring circuit 16, so that a user can adjust the power supply bias of the bias circuit 15 according to requirements, specifically, the controller 16 can output a modulation signal to the bias circuit 15, the bias circuit 15 is adjusted through the PWM duty ratio of the modulation signal to output a voltage value output by the compensation photoelectric receiving array 11, and therefore the stable gain of the photoelectric receiving unit 111 is controlled. The temperature monitoring circuit 16 prevents the photoelectric receiving array 11 from working under an overheat condition or an undervoltage condition, protects the photoelectric receiving array 11, and is beneficial to maintaining the stability of receiving laser signals.
Optionally, the controller may be specifically configured to: setting discrete preset temperature test points for the photoelectric receiving array; setting voltage intervals of bias power supply units corresponding to each preset temperature test point one by one; when the temperature acquisition end acquires that the difference value between the current temperature of the photoelectric receiving array and a preset temperature test point is smaller than a first threshold value, adjusting the voltage value of the bias power supply unit to the minimum value in the corresponding voltage interval by adjusting the modulation signal; the operation of adjusting the voltage value of the bias power supply unit according to the changed current temperature of the photoreceiving array is repeatedly performed, and finally the voltage value of the bias power supply unit is kept stable at a temperature.
The temperature of the photovoltaic receiving array and the power supply bias voltage have a certain balance relationship, for example, the power supply bias voltage is increased or decreased to cause the temperature of the photovoltaic receiving array to change, and when a user needs to control the temperature of the photovoltaic receiving array within a certain range, the power supply bias voltage of the corresponding photovoltaic receiving array needs to be adjusted. Specifically, firstly, discrete preset temperature test points are set for the photovoltaic receiving array, for example, if the working temperature range of the photovoltaic receiving array is-5 ℃ to 65 ℃, the preset temperature test points may be-5 ℃, 0 ℃, 5 ℃, 10 ℃, 15 ℃, 20 ℃, 25 ℃, 30 ℃, 35 ℃, 40 ℃, 45 ℃, 50 ℃, 55 ℃, 60 ℃ and 65 ℃, each preset temperature test point is set in the voltage interval of the corresponding bias power supply unit, for example, the voltage interval of the bias power supply unit corresponding to-5 ℃ is 30V to 35V, the voltage interval of the bias power supply unit corresponding to 0 ℃ is 35V to 40V, the voltage interval of the bias power supply unit corresponding to 5 ℃ is 40V to 45V, and so on. The preset temperature test point is a voltage interval adjusting gear, and when the temperature of the photoelectric receiving array is gradually increased from the current gear to the next gear, the next voltage interval can be adjusted; secondly, when the temperature acquisition end acquires that the difference value between the current temperature of the photoelectric receiving array and a preset temperature test point is smaller than a first threshold value, optionally, the first threshold value can be smaller than or equal to +/-1 ℃, the controller can adjust the voltage value of the bias power supply unit to be within a voltage interval corresponding to the preset temperature test point and to be a minimum value within the voltage interval by adjusting a modulation signal, and because the adjustment of the voltage value of the bias power supply unit in the modulation process causes inevitable change of the current temperature of the photoelectric receiving array, the voltage value of the bias power supply unit can be repeatedly adjusted from the minimum value within the voltage interval from low to high; finally, the operation of adjusting the voltage value of the bias power supply unit according to the changed current temperature of the photovoltaic receiving array is repeatedly executed, so that the voltage value of the bias power supply unit is finally kept stable at a certain temperature, and the dynamic balance between the voltage value of the bias power supply unit and the temperature of the photovoltaic receiving array is achieved. Through the adjustment process of the voltage value of the bias power supply unit, the stable gain of the photoelectric receiving unit is favorably realized when the working temperature environment of the laser receiving system is changeable or severe.
Fig. 4 is a schematic structural diagram of another laser receiving system provided in the embodiment of the present invention, and in this alternative, referring to fig. 1 and fig. 4, the laser receiving system may include at least one I/V conversion circuit 12 and at least one signal processing circuit 13 disposed corresponding to the I/V conversion circuit 12; the output ends of at least two photoelectric receiving units 111 are connected as one output end of the photoelectric receiving array 11; the I/V conversion circuit 12 is connected to the one-to-one corresponding output terminals of the photo-receiving array 11, and is configured to convert the electrical signals output by the corresponding output terminals from current signals to voltage signals; the signal processing circuit 13 is connected to the corresponding I/V conversion circuit 12, and performs amplification and shaping processing on the voltage signal.
Wherein, the output ends of at least two photo-receiving units 111 are connected to serve as one output end of the photo-receiving array 11. The I/V conversion circuits 12 are disposed in one-to-one correspondence with the output ends of the photo-reception array 11, and are configured to convert the electrical signals output by the corresponding output ends of the photo-reception array 11 from current signals to voltage signals. The signal processing circuits 13 are provided in one-to-one correspondence with the I/V conversion circuits 12, and are configured to amplify and shape the voltage signals output by the corresponding I/V conversion circuits 12. As can be seen from fig. 1 and fig. 4, the number of the I/V conversion circuits 12 is far smaller than the number of the photoelectric receiving units 111, and similarly, the number of the signal processing circuits 13 is far smaller than the number of the photoelectric receiving units 111, a plurality of the photoelectric receiving units 111 share one I/V conversion circuit 12 and one signal processing circuit 13, and a plurality of the laser emitting units 21 all sequentially emit laser signals, so that a plurality of the photoelectric receiving units 111 can share one I/V conversion circuit 12, thereby implementing time division multiplexing of the I/V conversion circuits 12, saving the manufacturing cost of the laser receiving system, effectively reducing the integration size of the laser receiving system, and improving the integration level of the laser receiving system. Meanwhile, the output ends of the photoelectric receiving units 111 are connected in parallel, so that the weak signal detection capability is enhanced, and the detection precision of laser signals is improved. Alternatively, as shown in fig. 1, the laser receiving system may include only one I/V conversion circuit 12 and one signal processing circuit 13; the output ends of all the photoelectric receiving units 111 are connected as the output end of the photoelectric receiving array 11 and connected with the signal processing circuit 13, the laser receiving system of the embodiment can be provided with only one I/V conversion circuit 12 and one signal processing circuit 13, and then the output ends of all the photoelectric receiving units 111 are connected as the only one output end of the photoelectric receiving array 11, so that the integration level of the laser receiving system is increased to the maximum extent, and the manufacturing cost is reduced. In a comparative example of this example, each of the photo-electric receiving units 111 corresponds to one I/V conversion circuit 12, as shown in fig. 5, fig. 5 is a schematic structural diagram of a comparative example of the laser receiving system provided in the embodiment of the present invention, in the comparative example, the I/V conversion circuit 12 'is disposed in one-to-one correspondence with the photo-electric receiving unit 111', and the I/V conversion circuit 12 'only converts the electrical signal output by the output end of the corresponding photo-electric receiving unit 111', and similarly, the signal processing circuit 13 'is disposed in one-to-one correspondence with the photo-electric receiving unit 111'. Only carry out simple stack with single-channel laser receiving system in the comparative example, the integrated level is lower, and cost and volume are too big, and the utility model discloses the problem that appears in the comparative example has effectively been solved to laser receiving system, and the circuit is simplified, and the practicality is strong for under same volume, the photoelectric receiving unit 111 of more quantity can be integrated to this embodiment laser receiving system, reinforcing laser receiving system's detectability.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a photo-receiving array according to an embodiment of the present invention, and optionally, the photo-receiving array 11 may include at least three photo-receiving units 111 arranged in a linear manner; every two adjacent photoelectric receiving units 111 are spaced by a preset distance d; the view field angle theta of the linearly arranged photoelectric receiving units in the linear arrangement direction corresponds to the preset distance d.
In a specific example of the present embodiment, the photo-reception array 11 may include at least three linearly arranged photo-reception units 111; every two adjacent photoelectric receiving units 111 are spaced by a preset distance d; the field angle of the linearly arranged photoelectric receiving units 111 in the linear arrangement direction corresponds to the preset distance d.
As shown in fig. 6, the optical receiving array 11 may be linear, and every two adjacent photoelectric receiving units 111 are spaced by a preset distance d, so that the plurality of photoelectric receiving units 111 can acquire the laser signal returned by a larger view angle θ, and the optical receiving array has the characteristics of wide view and high sensitivity, and avoids the problem that the optical receiving array 11 cannot acquire the laser signal emitted by the laser emitting unit. Alternatively, as shown in fig. 6, a viewing angle θ of the linearly arranged photoelectric receiving units 111 in the linearly arranged direction corresponds to the preset distance d, and preferably, the viewing angle θ is greater than or equal to 30 degrees. Optionally, in this example, the laser emitting units are arranged in the same manner as the photoelectric receiving unit 111, so that it is ensured that the energy obtained by the corresponding photoelectric receiving unit 111 is the largest at the same time, and the photoelectric receiving unit 111 is convenient to accurately obtain the laser signal emitted by the corresponding laser emitting unit. And the outputs of the plurality of photoelectric receiving units 111 are connected in parallel, increasing the sensitivity of reception. In other embodiments, the photo-receiving array may include a matrix-type arrangement of photo-receiving units; the matrix type photoelectric receiving array can form a wider visual field and further improve the sensitivity of laser detection.
Alternatively, the photoelectric receiving unit 111 may be a photodiode; the anode of the photodiode is used as the output end of the photoelectric receiving unit; the cathode of the photodiode serves as an input terminal of the photo-reception unit 111. The photodiode can receive a laser signal reflected by an object and convert the laser signal into a current signal, when the photoelectric receiving unit 111 is a photodiode, an anode of the photodiode is an output end of the photoelectric receiving unit 111, and a cathode of the photodiode is an input end of the photoelectric receiving unit 111, optionally, the photoelectric receiving array may adopt a plurality of patches of packaged photodiodes, for example, a plurality of patches of SMD packaged photodiodes packaged by 3 photodiodes. Alternatively, the photodiode may be at least one of: avalanche Photodiodes (APD), silicon photovoltaics, and single Photon photoreceivers. The photodiode is preferably an avalanche photodiode, which has the characteristics of ultra-low noise, high speed, high mutual impedance gain, and the like, and is a relatively stable photo-receiving unit.
Further, with continuing reference to fig. 1, optionally, the laser receiving system may further include: an optical system 17; the optical system 17 is disposed near the photo-reception array 11, and is used for focusing the laser signal reflected by the laser emission unit to the object to the photo-reception array 11.
The optical system 17 is disposed at the front end of the photoelectric receiving array 11, receives a laser signal diffusely reflected from an object, and focuses the laser signal to the photoelectric receiving array 11. The optical system 17 mainly includes an optical collimating lens and an optical filter, the optical collimating lens adopts a plano-convex lens to converge the laser signal, and the optical collimating lens is used for receiving the multi-beam laser signal reflected by the object or the target, and the optical filter adopts a narrow-band filter with the central wavelength of the laser signal as a narrow-band filter to filter light interference from other external wave bands.
In the optical collimating lens in this embodiment, a single plano-convex lens is used as a core lens for optical collimating reception, the diameter of the lens is 12mm to 40mm, the specific size is related to the number of the photoelectric receiving units 111 and the angular arrangement of the photoelectric receiving array 11, and for example, the receiving field angle θ of the photoelectric receiving array 11 can be about 30 degrees. The optical filter can perform optical filtering on a plurality of reflected signals from the optical collimating lens, eliminate stray light sources and other waveband component light sources, and better inhibit receiving noise.
It should be noted that the laser receiving unit of the present embodiment may be applied to scenes such as laser ranging, laser radar, optical fiber communication, and three-dimensional projection, and the present embodiment does not limit the specific application scene.
Based on same design, the embodiment of the utility model provides a still provide a laser radar system, laser radar system includes the utility model discloses arbitrary embodiment provides a laser receiving system and laser emission system, laser emission system include the laser emission unit.
The laser emitting unit emits modulated laser signals, the modulated laser signals are reflected to the corresponding photoelectric receiving unit after encountering an object, and the controller converts the time difference, the phase difference or the energy difference between the laser emitting unit and the laser reflecting unit to obtain the distance between the object and the laser radar system and the shape of the object or an obstacle. The laser receiving system comprises an optical receiving array, can receive multi-beam laser signals, the photoelectric receiving units and the laser transmitting units are arranged in a one-to-one correspondence mode, the photoelectric receiving units receive the laser signals transmitted by the corresponding laser transmitting units, and preset distances are formed between every two adjacent laser receiving units in the photoelectric receiving array, so that a small view field angle is formed between every two adjacent photoelectric receiving units, three-dimensional space detection can be achieved under the condition of horizontal scanning, the photoelectric receiving array forms a large view field angle, and the laser signals returned by a large view field range can be obtained. The multi-beam laser of this scheme is arranged for the line, rotates laser radar back, can obtain the signal of environment global. The laser radar system can be applied to navigation and obstacle avoidance of an automatic guided transport vehicle, height determination and surveying and mapping of an unmanned aircraft, security monitoring, unmanned auxiliary driving of an automobile, robot service navigation and the like. These applications require the lidar system of this embodiment to reflect the environment ahead and the state of the object in three dimensions or in more detail, in real time and at high speed. Along with the complicated development of the object, the single-beam laser ranging cannot show the comprehensiveness of the object, and the laser radar system provided by the implementation describes the form of the object in a three-dimensional space, so that the accuracy of object detection is improved, and the use experience of a user is improved.
The embodiment of the utility model provides a still provide a robot equipment. Fig. 7 is a schematic structural diagram of a robot device provided by the embodiment of the present invention, as shown in fig. 7, the embodiment of the present invention provides a robot device including the laser radar system 3 of the present invention. The robot device may be a meal delivery robot as shown in fig. 7, a banking service robot, a blind person navigation robot, an educational robot, an industrial robot, or the like, which is not particularly limited in this embodiment. This embodiment robot includes the utility model discloses laser radar system 3 that arbitrary embodiment provided, including the all technical characteristics of laser radar system 3, also possess all technological effects that laser radar system 3 had simultaneously.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (10)
1. A laser receiver system for receiving a multi-beam laser signal, comprising: the device comprises a photoelectric receiving array, an I/V conversion circuit, a signal processing circuit, a controller and a bias circuit;
the photoelectric receiving array comprises a plurality of photoelectric receiving units which are arranged in an array and used for receiving the multi-beam laser signals in a one-to-one correspondence mode, and the photoelectric receiving units are used for converting the laser signals into electric signals; the I/V conversion circuit is connected with the photoelectric receiving unit and is used for converting the electric signal from a current signal to a voltage signal; the signal processing circuit is connected with the I/V conversion circuit and is used for amplifying and shaping the voltage signal; the echo receiving end of the controller is connected with the signal processing circuit and is used for receiving the amplified and shaped voltage signal;
the bias circuit comprises a plurality of paths of bias power supply units, each path of bias power supply unit can be connected with the input end of at least one photoelectric receiving unit and is used for providing power supply bias for the connected photoelectric receiving unit;
the controller also comprises bias voltage modulation ends which are connected with the multiple bias voltage power supply units in a one-to-one correspondence mode and used for outputting modulation signals to adjust voltage values output by the corresponding bias voltage power supply units.
2. The laser receiving system of claim 1, wherein the controller further comprises a voltage acquisition terminal connected to the multiple bias power supply units in a one-to-one correspondence manner, for acquiring voltage values corresponding to the bias power supply units in real time;
the laser receiving system further includes: a temperature monitoring circuit; the temperature monitoring circuit is attached to the photoelectric receiving array; the temperature monitoring circuit is used for collecting the temperature of the photoelectric receiving array;
the controller also comprises a temperature acquisition end connected with the temperature monitoring circuit and used for acquiring the temperature of the photoelectric receiving array; the controller is further configured to adjust the modulation signal of each bias power supply unit according to the collected temperature.
3. The laser receiving system of claim 2, wherein the controller is specifically configured to:
setting discrete preset temperature test points for the photoelectric receiving array;
setting voltage intervals of the bias power supply units corresponding to each preset temperature test point one by one;
when the temperature acquisition end acquires that the difference value between the current temperature of the photoelectric receiving array and a preset temperature test point is smaller than a first threshold value, adjusting the voltage value of the bias power supply unit to the minimum value in a corresponding voltage interval by adjusting the modulation signal;
and repeatedly executing the operation of adjusting the voltage value of the bias power supply unit according to the changed current temperature of the photoelectric receiving array, and finally enabling the voltage value of the bias power supply unit to be stable at a temperature.
4. The laser light receiving system according to claim 1,
the bias circuit comprises m bias power supply units; the photoelectric receiving array comprises m × n photoelectric receiving units; m is an integer greater than 1; n is an integer greater than or equal to 1;
each bias power supply unit is connected with the input end of the corresponding n photoelectric receiving units.
5. The laser receiving system according to claim 1, wherein the bias power supply unit outputs a power supply bias voltage ranging from 30V to 250V to power the photo-receiving unit with an operating current of 1mA or more.
6. The laser light receiving system according to claim 1,
the input end of each photoelectric receiving unit is provided with a selection switch; the photoelectric receiving unit replaces the correspondingly connected bias power supply unit through the selection switch.
7. The laser light receiving system according to claim 1, wherein the laser light receiving system includes at least one I/V conversion circuit and at least one signal processing circuit provided in correspondence with the I/V conversion circuit;
the output ends of at least two photoelectric receiving units are connected to be used as one output end of the photoelectric receiving array; the I/V conversion circuit is connected with the one-to-one corresponding output ends of the photoelectric receiving array and is used for converting the electric signals output by the corresponding output ends into voltage signals from current signals; the signal processing circuit is connected with the corresponding I/V conversion circuit and is used for amplifying and shaping the voltage signal.
8. The laser receiving system according to claim 1, wherein the photo-receiving array comprises at least three linearly arranged photo-receiving units; every two adjacent photoelectric receiving units are spaced by a preset distance;
and the view field angle of the photoelectric receiving units arranged in a linear type in the linear type arrangement direction corresponds to the preset distance.
9. A laser radar system comprising the laser receiving system according to any one of claims 1 to 8, and further comprising:
the laser emitting system comprises laser emitting units which are arranged in one-to-one correspondence with photoelectric receiving units of the laser receiving system.
10. A robotic device comprising the lidar system of claim 9.
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| CN202020949420.5U CN212623086U (en) | 2020-05-29 | 2020-05-29 | Laser receiving system, laser radar system and robot equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113721692A (en) * | 2021-07-30 | 2021-11-30 | 东软医疗系统股份有限公司 | Bias circuit, bias voltage adjusting method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113721692A (en) * | 2021-07-30 | 2021-11-30 | 东软医疗系统股份有限公司 | Bias circuit, bias voltage adjusting method and device |
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